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Aim: Tool Program:: To Obtain D-K Analysis of A 4 Axis SCARA Robot.: Matlab

The document describes a Matlab program that calculates the direct kinematics (d-k) analysis of a 4-axis SCARA robot. The program prompts the user for joint angles, link lengths, and offset values, and calculates the resulting 4x4 homogeneous transformation matrix (ARM matrix) that relates the tool position and orientation to the base. It then displays the translations in each axis and the normal, sliding, and approach vectors of the tool.

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shahpatel19
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82 views

Aim: Tool Program:: To Obtain D-K Analysis of A 4 Axis SCARA Robot.: Matlab

The document describes a Matlab program that calculates the direct kinematics (d-k) analysis of a 4-axis SCARA robot. The program prompts the user for joint angles, link lengths, and offset values, and calculates the resulting 4x4 homogeneous transformation matrix (ARM matrix) that relates the tool position and orientation to the base. It then displays the translations in each axis and the normal, sliding, and approach vectors of the tool.

Uploaded by

shahpatel19
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOC, PDF, TXT or read online on Scribd
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AIM : To obtain d-k analysis of a 4 axis SCARA Robot.

TOOL : Matlab.
PROGRAM :
clc;
p = [1 0 0 0; 0 1 0 0 ; 0 0 1 0; 0 0 0 1];
for i=1:4
x = input('theta :');
y = input('alpha :');
m = input('a :');
n = input('dk : ');
a = [cosd(x) -sind(x)*cosd(y) sind(x)*sind(y) cosd(x)*m;
sind(x) cosd(x)*cosd(y) -cosd(x)*sind(y) sind(x)*m;
0 sind(y) cosd(y) n;
0 0 0 1]
p = p*a;
end
disp('translation in x direction :');
disp(p(1,4));
disp('translation in y direction :');
disp(p(2,4));
disp('translation in z direction :');
disp(p(3,4));
disp('Normal Vector :');
X = [p(1,1);
p(2,1);
p(3,1)]
disp('Sliding Vector :');
Y = [p(2,1);
p(2,2);
p(2,3)]
disp('Approach Vector :');
Z = [p(3,1);
p(3,2);
p(3,3)]

OUTPUT :
theta :45
alpha :180
a :425
dk : 877
a =
0.7071
0.7071
0
0

0.7071
-0.7071
0
0

0
0
-1.0000
0

300.5204
300.5204
877.0000
1.0000

theta :-60
alpha :0
a :375
dk : 0
a =
0.5000
-0.8660
0
0

0.8660
0.5000
0
0

0 187.5000
0 -324.7595
1.0000
0
0
1.0000

theta :0
alpha :0
a :0
dk : 120
a =
1
0
0
0

0
1
0
0

0
0
1
0

0
0
120
1

-1
0
0
0

0
0
1
0

0
0
200
1

theta :90
alpha :0
a :0
dk : 200
a =
0
1
0
0

(ARM Matrix) p =
0.9659
0.2588
0
0

0.2588
-0.9659
0
0

0
0
-1.0000
0

203.4632
662.7426
557.0000
1.0000

translation in x direction :
203.4632
translation in y direction :
662.7426
translation in z direction :
557
Normal Vector :

X =

0.9659
0.2588
0

Sliding Vector :

Y =

0.2588
-0.9659
0

Approach Vector :

Z =

0
0
-1

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